Controller for controlling motor transferring power between a plurality of power sources

Abstract

A motor controller includes a power source VG for driving a motor 1, a power source VRG for regenerating energy generated in the motor 1, and a power converter for transferring energy from the power source VRG to the power source VG. Windings of the motor are connected, at their opposite ends, to the power source VG and collectors of transistors TR1 to TR3, respectively. Diodes D1 to D3 are connected to nodes of the windings and the transistors TR1-TR3 such that magnetic energy generated in the motor 1 is supplied to the power source VRG. This configuration enables the motor controller to have a reduced number of transistors for driving the windings, and the power sources to be effectively utilized. Further, the motor controller can use a discharge circuit of small power consumption type, which can reduce heat generated in the motor controller.

What is claimed is: 
     
       1. A motor controller for controlling a motor driven by predetermined drive currents applied to windings of the motor, the motor controller comprising: (a) a first power source connected to one end each of the windings, the first power source providing the windings with a first voltage corresponding to a potential difference applied to a reference power source of a power amplifier;   (b) power elements disposed between the reference power source and the other ends of the windings, the power elements supplying the predetermined drive currents to the windings;   (c) a second power source connected to the windings at the other ends thereof via a diode element, the second power source providing the windings with a second voltage for regenerating energy of the motor; and   (d) first power converting means for transferring power between the first and second power sources.   
     
     
       2. The motor controller as in claim 1, wherein the first power converting means comprises: a reactor including a first coil whose one end is connected to the first power source and a second coil which is adjacent to the first coil and has one end connected to the second power source; a diode having a cathode connected to the other end of the first coil and providing the first coil with a current flowing toward the first power source; and a switching element connected to the other end of the second coil, and wherein when the switching element is switched at predetermined times, the first power converting means transfers given magnetic energy from the second coil to the first coil, thereby transferring power from the second power source to the first power source.   
     
     
       3. The power controller as in claim 2, wherein the first power converting means comprises: a third coil having one end connected to a third power source whose voltage is smaller than a voltage of the first power source; a third transistor having a collector connected to the other end of the third coil; a third diode having an anode connected to a node of the third coil and the third transistor and a cathode connected to the first power source, and supplying a current from the third coil toward the first power source; a fourth diode having a cathode connected to a collector of the third transistor and supplying a current toward the third coil; and a fourth transistor having a collector connected to the first power source and an emitter connected to a node of the third coil and the third transistor, and wherein when the third transistor is switched at predetermined times, the first power converting means transfers power from the first power source to the third power source.   
     
     
       4. The motor controller as in claim 1, wherein the first power converting means comprises: a reactor including a first coil having one end connected to the first power source and the other end connected to a first switching element, and a second coil which is adjacent to the first coil and has one end connected to the second power source and the other end connected to a second switching element; a first diode having a cathode connected to a node of the first coil and the first switching element and providing the first coil with a current flowing toward the first power source; and a second diode having a cathode connected to a node of the second coil and the second switching element and providing the second coil with a current flowing toward the second power source, and wherein when the first and second switching elements are switched at predetermined times, the first power converting means transfers given magnetic energy between the first coil and the second coil, thereby transferring power between the second and the first power sources.   
     
     
       5. The motor controller as in claim 1, wherein the first power converting means comprises: a first transistor having a collector connected to the second power source; a first coil having one end connected to an emitter of the first transistor and the other end connected to the first power source; a first diode having a cathode connected to a node of the first coil and an emitter of the first transistor and transferring a current flowing from the reference power source to the first coil; a second coil having one end connected to the first power source; a second transistor having a collector connected to the other end of the second coil; and a second diode having an anode connected to a node of the second coil and a collector of the second transistor and a cathode connected to the second power source, and wherein the second transistor is switched at predetermined times, thereby transferring power from the first power source to the second power source.   
     
     
       6. The motor controller as in claim 1, wherein the power amplifier for driving the motor comprises the power element, and wherein the reference power source of the power amplifier is connected to a reference power source of an arithmetic unit which generates predetermined signals for controlling the power element.   
     
     
       7. The motor controller as in claim 6, further including a current detecting resistor disposed between the power element and the reference power source. 
     
     
       8. The motor controller as in claim 6, further including voltage dividing resistors disposed between the first power source and the reference power source and between the second power source and the reference power source, and detecting potentials of the first and second power sources. 
     
     
       9. The motor controller as in claim 6, further including receiving means for receiving control commands from a host control unit in an electrically insulated manner. 
     
     
       10. The motor controller as in claim 6, wherein a control power source for the arithmetic unit is generated by the first or second power source. 
     
     
       11. A motor controller for controlling a motor driven by predetermined drive currents applied to windings of the motor, the motor controller comprising: (a) a first power source connected to one end each of the windings, the first power source providing the windings with a first voltage corresponding to a potential difference applied to a reference power source of a power amplifier;   (b) power elements disposed between the reference power source and the other ends of the windings, the power elements supplying the predetermined drive currents to the windings;   (c) a second power source connected to the windings at the other ends thereof via a diode element, the second power source providing the windings with a second voltage for regenerating energy of the motor;   (d) first power converting means for transferring power between the first and second power sources;   (e) a third power source outputting a DC voltage; and   (f) second power converting means for transferring power between the first and third power sources.   
     
     
       12. The motor controller as in claim 11, wherein the second power converting means comprises: a reactor including a first coil which has one end connected to the first power source and the other end connected to a first switching element and a second coil which is adjacent to the first coil and has one end connected to the third power source and the other end connected to a second switching element; a first diode having a cathode connected to a node of the first coil and the first switching element and providing the first coil with a current flowing toward the first power source; a first transistor having a collector connected to the other end of the second coil; and a second diode having a cathode connected to a node of the second coil and a second switching element and providing the second coil with a current flowing toward the third power source, and wherein when the first and second switching elements are switched at predetermined times, the second power converting means transfers given magnetic energy between the second coil and the first coil, thereby transferring power between the third and first power sources.   
     
     
       13. The motor controller as in claim 11, wherein the second power converting means comprises: a first transistor having a collector connected to the third power source; a first coil having one end connected to an emitter of the first transistor and the other end connected to the first power source; a first diode having a cathode connected to a node of the first coil and an emitter of the first transistor and transferring a current flowing from the reference power source; a second coil having one end connected to the first power source; a second transistor having a collector connected to the other end of the second coil; and a second diode having an anode connected to a node of the second coil and a collector of the second transistor and a cathode connected to the third power source, and wherein the second transistor is switched on and off at predetermined times, thereby transferring power from the first power source to the third power source.   
     
     
       14. The motor controller as in claim 11, wherein the power amplifier for driving the motor comprises the power element, and wherein the reference power source of the power amplifier is connected to a reference power source of an arithmetic unit which generates predetermined signals for controlling the power element.   
     
     
       15. The motor controller as in claim 14, further including a current detecting resistor disposed between the power element and the reference power source. 
     
     
       16. The motor controller as in claim 14, further including voltage dividing resistors disposed between the first power source and the reference power source and between the second power source and the reference power source, and detecting potentials of the first and second power sources. 
     
     
       17. The motor controller as in claim 14, further including receiving means for receiving control commands from a host control unit in an electrically insulated manner. 
     
     
       18. The motor controller as in claim 14, wherein a control power source for the arithmetic unit is generated by the first or second power source. 
     
     
       19. The power controller as in claim 11, wherein the first power converting means comprises: a first transistor having a collector connected to the second power source;   a first coil having one end connected to an emitter of the first transistor and the other end connected to the first power source;   a first diode having a cathode connected to a node of the first coil and an emitter of the first transistor and transferring a current flowing from the reference power source to the first coil;   a second coil having one end connected to the first power source;   a second transistor having a collector connected to the other end of the second coil; and   a second diode having an anode connected to a node of the second coil and a collector of the second transistor and a cathode connected to the second power source, wherein when the second transistor is switched at predetermined times, thereby transferring power from the first power source to the second power source.   
     
     
       20. The power controller as in claim 19, wherein the second power converting means comprises: a third coil having one end connected to the third power source whose voltage is smaller than a voltage of the first power source; a third transistor having a collector connected to the other end of the third coil; a third diode having an anode connected to a node of the third coil and the third transistor and a cathode connected to the first power source, and supplying a current from the third coil toward the first power source; a fourth diode having a cathode connected to a collector of the third transistor and transferring a current flowing toward the third coil; and a fourth transistor having a collector connected to the first power source and an emitter connected to a node of the third coil and the third transistor, and wherein when the third transistor is switched at predetermined times, the second power converting means transfers powers from the first power source to the third power source.